Intelligent glue spraying system and intelligent glue spraying method

Abstract

The invention provides an intelligent glue spraying system and an intelligent glue spraying method. The intelligent glue spraying system and the intelligent glue spraying method can effectively prevent excessive glue from being accumulated on a glue spraying object. The intelligent glue spraying system comprises an object bearing area, an image acquisition module, a glue spraying module, a track planning module and a glue distribution analysis module. The object bearing area bears an object to be subjected to glue spraying. The image acquisition module acquires an image of an object to be subjected to glue spraying and judges the position and the shape of the object to be subjected to glue spraying according to the image. The glue spraying module comprises a glue sprayer and a movement mechanism, the movement mechanism drives the glue sprayer to move, and the glue spraying amount of the glue sprayer can be adjusted. The trajectory planning module plans the movement trajectory of the movement mechanism according to the image. The glue distribution analysis module calculates the predicted accumulated glue amount of each position needing glue spraying according to the moving track and the glue spraying amount of the glue sprayer in the default unit time, and adjusts the glue spraying amount of the glue sprayer at each position needing glue spraying according to the predicted accumulated glue amount, so that the actual accumulated glue amount at each position needing glue spraying does not exceed the upper limit of the accumulated glue amount.

Description

Technical Field

[0001] The present invention relates to a glue spraying system and a glue spraying method, and particularly to an intelligent glue spraying system and an intelligent glue spraying method. Background Art

[0002] The upper of a shoe usually includes an inner layer and an outer layer that are glued to each other. During the shoe-making process, a glue spraying device is required to perform glue spraying operations on the inner layer and the outer layer of the upper so that the inner layer and the outer layer can be glued to each other. However, due to factors such as the movement path of the glue sprayer of the glue spraying device and the moving speed that changes along with the movement path, the accumulated glue amount at different positions on the glue spraying object (the inner layer and the outer layer) during the glue spraying process is different and it is difficult to accurately control the accumulated glue amount, which easily leads to excessive glue amount on the object overflowing or penetrating. In addition to the shoe-making industry, other industries that need to glue or spray glue on two pieces of materials and then bond them all face the same dilemma. Summary of the Invention

[0003] The present invention is directed to an intelligent glue spraying system and an intelligent glue spraying method, which can effectively avoid excessive glue accumulation on the glue spraying object.

[0004] According to an embodiment of the present invention, the intelligent glue spraying system includes at least one object carrying area, at least one image acquisition module, at least one glue spraying module, a trajectory planning module, and a glue distribution analysis module. The object carrying area is used to carry at least one object to be glue-sprayed. The image acquisition module is used to acquire an image of at least one object to be glue-sprayed and determine the position and shape of at least one object to be glue-sprayed based on the image. The glue spraying module includes a glue sprayer, a motion mechanism, and a glue supply device, wherein the motion mechanism is used to drive the glue sprayer to move, the glue supply device is used to supply glue to the glue sprayer, and the glue spraying amount of the glue sprayer can be adjusted. The trajectory planning module is used to plan the moving trajectory of at least one motion mechanism based on the image so that the glue sprayer can spray glue on multiple positions to be glue-sprayed of at least one object to be glue-sprayed. The glue distribution analysis module is used to calculate the predicted accumulated glue amount at each position to be glue-sprayed based on the moving trajectory and the default glue spraying amount per unit time of the glue sprayer, and adjust the glue spraying amount of the glue sprayer at each position to be glue-sprayed based on the predicted accumulated glue amount so that the actual accumulated glue amount at each position to be glue-sprayed does not exceed the upper limit of the accumulated glue amount.

[0005] In an embodiment according to the present invention, the above-mentioned intelligent glue spraying system further includes an automatic feeding module, wherein the number of at least one object to be glue-sprayed is multiple, and the automatic feeding module is used to automatically place these objects to be glue-sprayed on at least one object carrying area one by one.

[0006] In an embodiment of the present invention, the above-mentioned at least one image acquisition module includes a two-dimensional camera, a three-dimensional camera, or a scanning device.

[0007] In an embodiment of the present invention, the above-mentioned glue sprayer is provided with a regulating valve for regulating the glue spraying amount of the glue sprayer.

[0008] In an embodiment of the present invention, the above glue distribution analysis module is used to calculate the speeds of the glue sprayer at multiple positions on the movement trajectory according to the movement trajectory, and calculate the predicted cumulative glue amounts corresponding to each position according to the speeds.

[0009] In an embodiment of the present invention, the above glue distribution analysis module is used to calculate the predicted cumulative glue amounts corresponding to each position according to the movement trajectory and the spraying radius of the glue sprayer.

[0010] In an embodiment of the present invention, the above glue distribution analysis module is used to calculate the speeds of the glue sprayer at multiple positions on the movement trajectory according to the movement trajectory, and calculate the predicted cumulative glue amounts corresponding to each position according to the speeds and the spraying radius of the glue sprayer.

[0011] In an embodiment of the present invention, the above intelligent glue spraying system includes two production lines that are parallel to each other. The numbers of at least one object bearing area, at least one image acquisition module, and at least one glue spraying module are all two. The two object bearing areas are respectively located on the two production lines, the two image acquisition modules are respectively located on the two production lines, the two glue spraying modules are respectively located on the two production lines, and each production line includes a conveyor belt. The conveyor belt sequentially passes through the object bearing area, the image acquisition module, and the glue spraying module.

[0012] In an embodiment of the present invention, the above two production lines share a trajectory planning module and a glue distribution analysis module.

[0013] In an embodiment of the present invention, the above intelligent glue spraying system further includes a downstream operation area and an automatic staggered arrangement mechanism. Among them, each conveyor belt extends to the downstream operation area, and the automatic staggered arrangement mechanism is used to automatically stagger and arrange a plurality of glue-sprayed objects that reach the downstream operation area on a conveyor belt.

[0014] According to an embodiment of the present invention, the intelligent glue spraying method includes the following steps. At least one object to be glue-sprayed is carried by at least one object bearing area. An image of at least one object to be glue-sprayed is acquired by at least one image acquisition module, and the position and shape of at least one object to be glue-sprayed are judged according to the image. A movement trajectory of at least one motion mechanism is planned by a trajectory planning module according to the image, so that at least one glue sprayer can be driven by at least one motion mechanism to spray glue on a plurality of positions to be glue-sprayed of at least one object to be glue-sprayed. The predicted cumulative glue amounts of each position to be glue-sprayed are calculated by a glue distribution analysis module according to the movement trajectory and the default glue spraying amount per unit time of the glue sprayer, and the glue spraying amounts of the glue sprayer at each position to be glue-sprayed are adjusted according to the predicted cumulative glue amounts, so that the actual cumulative glue amounts at each position to be glue-sprayed do not exceed the upper limit of the cumulative glue amount.

[0015] Based on the above, in the intelligent glue spraying system of the present invention, the glue distribution analysis module can calculate the predicted cumulative glue amount at each glue spraying position according to the predicted movement trajectory of the glue sprayer and the default glue spraying amount per unit time, and then adjust the actual glue spraying amount of the glue sprayer based on this predicted cumulative glue amount, so as to accurately control the actual cumulative glue amount not to exceed the upper limit of the cumulative glue amount. Thus, it is possible to avoid overflow or penetration due to excessive glue accumulation on the glue spraying object. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a perspective view of some components of the intelligent glue spraying system according to an embodiment of the present invention;

[0017] Figure 2 is Figure 1 the top view of the intelligent glue spraying system;

[0018] Figure 3 is Figure 1 the schematic diagram of the glue spraying module;

[0019] Figure 4 is Figure 1 the schematic diagram of some components of the intelligent glue spraying system;

[0020] Figure 5 schematically shows Figure 4 the movement trajectory planned by the trajectory planning module;

[0021] Figure 6 is a perspective view of some components of the intelligent glue spraying system according to another embodiment of the present invention;

[0022] Figure 7 is Figure 6 the top view of the intelligent glue spraying system;

[0023] Figure 8 shows Figure 7 the intelligent glue spraying system includes an automatic staggered arrangement mechanism;

[0024] Figure 9A and Figure 9B is the local top view operation flow chart of the intelligent glue spraying system according to another embodiment of the present invention;

[0025] Figure 10A and Figure 10B are respectively Figure 9A and Figure 9B the side views of the intelligent glue spraying system;

[0026] Figure 11A and Figure 11B is the local top view operation flow chart of the intelligent glue spraying system according to another embodiment of the present invention;

[0027] Figure 12A andFigure 12B respectively Figure 11A and Figure 11B a side view of the intelligent glue spraying system of

[0028] Figure 13A and Figure 13B is a partial top view operation flow chart of the intelligent glue spraying system of another embodiment of the present invention;

[0029] Figure 14A and Figure 14B respectively Figure 13A and Figure 13B a side view of the intelligent glue spraying system of

[0030] Figure 15 is a flow chart of an intelligent glue spraying method according to an embodiment of the present invention. Detailed Embodiments

[0031] Reference will now be made in detail to exemplary embodiments of the present invention, examples of which are illustrated in the accompanying drawings. Wherever possible, the same component symbols are used in the drawings and the description to denote the same or similar parts.

[0032] Figure 1 is a perspective view of some components of an intelligent glue spraying system according to an embodiment of the present invention. Figure 2 is Figure 1 a top view of the intelligent glue spraying system of Figure 1 and Figure 2 , the intelligent glue spraying system 100 of this embodiment includes an object bearing area 110, an image acquisition module 120 and a glue spraying module 130. The object bearing area 110 is used to bear the object 50 to be glue sprayed. The image acquisition module 120 is used to acquire the image of the object 50 to be glue sprayed and judge the position and shape of the object 50 to be glue sprayed according to this image. The glue spraying module 130 is used to spray glue on the object 50 to be glue sprayed according to the position and shape of the object 50 to be glue sprayed. The object 50 to be glue sprayed is, for example, the inner layer and / or outer layer of the upper of a shoe, or the material of other products, and the present invention does not limit this.

[0033] Figure 3 is Figure 1 a schematic diagram of the glue spraying module of Figures 1 to 3, the glue spraying module 130 of this embodiment includes a glue sprayer 132, a motion mechanism 134, and a glue supply device 136. The motion mechanism 134 is connected to the glue sprayer 132 and is used to drive the glue sprayer 132 to move. The motion mechanism 134 of this embodiment is, for example, a multi-axial (such as three-axial) slide mechanism and is driven by a cylinder or other types of drive sources. It can also be a robotic arm or other types of drive mechanisms, and the present invention does not limit this. The glue supply device 136 is connected to the glue sprayer 132 and is used to supply glue to the glue sprayer 132. The glue sprayer 132 can be connected to the glue supply device 136 through a glue supply pipe. The glue supply device 136 can be integrated into the glue sprayer 132 or in an external form, and the present invention does not limit this. The glue spraying amount of the glue sprayer 132 can be adjusted. Specifically, the glue sprayer 132 can be provided with a regulating valve (such as a piezoelectric valve, an injection valve, a screw valve, a needle valve, or a spray valve, etc.) to adjust the glue spraying amount of the glue sprayer 132. In other embodiments, the glue sprayer 132 can adjust the glue spraying amount through other types of regulators, and the present invention does not limit this.

[0034] Figure 4 is Figure 1 a schematic diagram of some components of the intelligent glue spraying system. Figure 5 Schematically shows Figure 4 the movement trajectory planned by the trajectory planning module. Please refer to Figure 4 and Figure 5 , the intelligent glue spraying system 100 of this embodiment further includes a trajectory planning module 140. The trajectory planning module 140 is coupled to the image acquisition module 120 and is used to plan the movement trajectory P of the motion mechanism 134 according to the object image acquired by the image acquisition module 120. The movement trajectory P passes through multiple glue spraying positions of the object to be glue sprayed 50, so that the glue sprayer 132 can spray glue on multiple glue spraying positions of the object to be glue sprayed 50.

[0035] At the direction change of the movement trajectory P, the motion mechanism 134 needs to appropriately decelerate the glue sprayer 132 to smoothly change the direction. For example, the movement trajectory P makes a large turn in area A, and the motion mechanism 134 will correspondingly decelerate greatly here. The deceleration will cause the corresponding position of the object to be glue sprayed 50 to stay for a longer time and thus accumulate more glue spraying amount. In addition, due to the glue sprayer 132 having a certain spraying radius, there will be an overlapping spraying area at least at the turning point of the movement trajectory P. All of the above factors may cause differences in the accumulated glue amount at each glue spraying position.

[0036] In view of this, the intelligent glue spraying system 100 of this embodiment further includes a glue distribution analysis module 150. The glue distribution analysis module 150 is used to calculate the predicted cumulative glue amount at each glue spraying position according to the moving trajectory P and the default glue spraying amount per unit time of the glue sprayer 132, and adjust the glue spraying amount of the glue sprayer 132 at each glue spraying position according to the predicted cumulative glue amount, so that the actual cumulative glue amount at each glue spraying position does not exceed the upper limit of the cumulative glue amount.

[0037] For example, the glue distribution analysis module 150 predicts Figure 5 that there is an appropriate cumulative glue amount at the straight-line movement in the moving trajectory P shown, and the glue distribution analysis module 150 predicts Figure 5 that there are different relatively large cumulative glue amounts in area A and other direction-changing places in the moving trajectory P shown respectively. Accordingly, the glue distribution analysis module 150 adjusts the glue sprayer 132 to have different smaller actual glue spraying amounts per unit time at area A and other direction-changing places respectively (the larger the predicted cumulative glue amount, the smaller the actual glue spraying amount per unit time is adjusted), and keeps the actual glue spraying amount per unit time of the glue sprayer 132 at the straight-line movement the same as the default glue spraying amount per unit time, so as to make the cumulative glue amounts in area A and other direction-changing places as the same as or close to the cumulative glue amount at the straight-line movement as much as possible. The default glue spraying amount per unit time can be the default value of the glue sprayer 132 or a value set by the user himself / herself, and the present invention does not limit this.

[0038] In this embodiment, the trajectory planning module 140 and the glue distribution analysis module 150 are, for example, integrated in the processor of a computer device or other types of processing units, and the present invention does not limit this.

[0039] As described above, in the intelligent glue spraying system 100 of this embodiment, the glue distribution analysis module 150 can calculate the predicted cumulative glue amount at each glue spraying position according to the predicted moving trajectory P of the glue sprayer 132 and the default glue spraying amount per unit time, and then adjust the actual glue spraying amount of the glue sprayer 132 according to this predicted cumulative glue amount, so as to accurately control the actual cumulative glue amount not to exceed the upper limit of the cumulative glue amount. Thus, it is possible to avoid overflow or penetration due to excessive glue accumulation on the glue spraying object (the object to be glue sprayed 50).

[0040] More specifically, in this embodiment, the glue distribution analysis module 150 can calculate the speeds of the glue sprayer 132 at multiple positions on the moving trajectory P according to the moving trajectory P, and the glue distribution analysis module 150 can calculate the overlapping spraying area at each place according to the moving trajectory P and the spraying radius of the glue sprayer 132, and further calculate the predicted cumulative glue amount corresponding to each position based on this. The specific calculation details are based on existing calculation theories and knowledge and can be implemented accordingly, and will not be elaborated here.

[0041] Please refer toFigure 1 and Figure 2 The intelligent glue spraying system 100 of this embodiment further includes an automatic feeding module 160. The automatic feeding module 160 is used to automatically place a plurality of objects 50 to be glue-sprayed on the object bearing area 110 one by one. The automatic feeding module 160, for example, picks up, places, and moves the objects 50 to be glue-sprayed through a robotic arm or other types of automated mechanisms, and the present invention does not limit this. In addition, in this embodiment, the image acquisition module 120 is, for example, a two-dimensional camera, a three-dimensional camera, a scanning device, or other types of optical imaging devices, and the present invention does not limit this.

[0042] The intelligent glue spraying system of this embodiment is as Figure 1 and Figure 2 shown, and includes a production line L. The production line L includes a conveyor belt T. The conveyor belt T sequentially passes through the object bearing area 110, the image acquisition module 120, and the glue spraying module 130 and extends to the downstream operation area W, and is used to convey the objects 50 to be glue-sprayed along the production line L through the drive of a motor or other types of drive sources, so that the objects 50 on the object bearing area 110 are first moved to the image acquisition module 120 for image acquisition, then moved to the glue spraying module 130 for glue spraying, and then moved to the downstream operation area W for subsequent gluing operations.

[0043] Figure 6 is a perspective view of some components of the intelligent glue spraying system according to another embodiment of the present invention. Figure 7 is Figure 6 a top view of the intelligent glue spraying system. Figure 6 and Figure 7 The difference between the intelligent glue spraying system 100' of the embodiment shown and the intelligent glue spraying system 100 of the foregoing embodiment is that the intelligent glue spraying system 100' includes two production lines L that are parallel to each other, and the number of object bearing areas 110, the number of image acquisition modules 120, and the number of glue spraying modules 130 are all two. The two object bearing areas 110 are respectively located on the two production lines L, the two image acquisition modules 120 are respectively located on the two production lines L, and the two glue spraying modules 130 are respectively located on the two production lines L. Each production line L includes a conveyor belt T, and the conveyor belt T sequentially passes through the object bearing area 110, the image acquisition module 120, and the glue spraying module 130. In addition, the two production lines L, for example, share a trajectory planning module 140, a glue distribution analysis module 150, and an automatic feeding module 160, but the present invention is not limited thereto, and the two production lines L can respectively correspond to different trajectory planning modules, glue distribution analysis modules, and automatic feeding modules.

[0044] Figure 8 shows Figure 7 that the intelligent glue spraying system includes an automatic staggered arrangement mechanism. Please refer to Figure 8, two production lines L are respectively used for performing glue spraying operations on the objects to be glue-sprayed 50A and 50B. The objects to be glue-sprayed 50A and 50B are, for example, the outer layer and the inner layer of the shoe upper respectively. The intelligent glue spraying system 100' of this embodiment further includes an automatic staggered arrangement mechanism 170. The automatic staggered arrangement mechanism 170 is used to automatically stagger and arrange a plurality of glue-sprayed objects 50A' and 50B' (formed by glue-spraying the objects to be glue-sprayed 50A and 50B respectively) that reach the downstream operation area W on one of the conveyor belts T. The staggered glue-sprayed objects 50A' and 50B' enable the operator to conveniently pick up the glue-sprayed objects 50A and 50B nearby on one side of the conveyor belt T and bond them to each other. Since the two production lines are separated by a certain distance, without the automatic staggered arrangement mechanism 170, the operator has to reach out to one of the production lines at the far end on one side of the production line to pick up a glue-sprayed object, then go to the nearer production line to pick up the second paired glue-sprayed object, and then perform pressing. Reaching out to pick up objects from a long distance for a long time is likely to cause occupational injuries to the operator. The automatic staggered arrangement mechanism 170 may include a robotic arm or other types of picking / transfer mechanisms, and the present invention does not limit this. In addition, a rotating mechanism can be used to achieve the effect of automatic arrangement, which is specifically described as follows.

[0045] Figure 9A and Figure 9B is a partial operation flow chart of the intelligent glue spraying system according to another embodiment of the present invention. Figure 10A and Figure 10B are respectively Figure 9A and Figure 9B side views of the intelligent glue spraying system. Figures 9A to 10B The difference between the shown intelligent glue spraying system 100A and the intelligent glue spraying system 100' of the foregoing embodiment is that the conveyor belt of the intelligent glue spraying system 100A is divided into three independent sections (conveyor belts T1, T2, T3). The driving gear G1 is arranged on the conveyor belt T1 and can be linked with the conveyor belt T1. The driving gears G3 and G4 are arranged on the conveyor belt T2 and can be linked with the conveyor belt T2. The driving gear G5 is arranged on the conveyor belt T3 and can be linked with the conveyor belt T3. The driving gears G2 and G6 are connected by a pulley B to form a pulley group. The driving gear G2 meshes with the driving gears G1 and G3, and the driving gear G6 meshes with the driving gears G4 and G5. Accordingly, when the motor M drives the conveyor belt T1 to actuate, the conveyor belts T2 and T3 can be driven to actuate simultaneously.

[0046] Since the conveyor belt T2 is independent of the conveyor belts T1 and T3 as described above, the effect of automatic arrangement can be achieved by driving the conveyor belt T2 to rotate. Specifically, the automatic staggered arrangement mechanism 170' of this embodiment is a rotating mechanism (such as a hollow electric turntable or a cam divider, etc.), which can be as Figure 9B and Figure 10BLift the conveyor belt T2 as shown and drive the conveyor belt T2 to rotate 180 degrees along the rotation direction R, and after the rotation is completed, let the conveyor belt T2 descend to its original height. The glue-sprayed objects 50A' and 50B' on the conveyor belt T2 are thus interchanged, so as to be in a staggered arrangement with the adjacent glue-sprayed objects 50A' and 50B' on the left and right.

[0047] Figure 11A and Figure 11B are partial operation flowcharts of the intelligent glue-spraying system according to another embodiment of the present invention. Figure 12A and Figure 12B are respectively Figure 11A and Figure 11B side views of the intelligent glue-spraying system. Figures 11A to 12B The difference between the intelligent glue-spraying system 100B shown and the intelligent glue-spraying system 100A of the foregoing embodiment is that the driving gear G3 of the intelligent glue-spraying system 100B is not directly connected to the conveyor belt T2. The driving gear G3 is connected to the magnetic ring C1 through the linkage mechanism D. The driving gear G3 can drive the magnetic ring C1 to rotate, and drive the driven wheel C2 to rotate through the magnetic force between the magnetic ring C1 and the driven wheel C2 provided on the conveyor belt T2, and then drive the conveyor belt T2 to actuate. The linkage mechanism D can drive the magnetic ring C1 away from the driven wheel C2 as shown in Figure 11B to avoid the magnetic force between the magnetic ring C1 and the driven wheel C2 from interfering with the automatic staggered arrangement mechanism 170' to drive the conveyor belt T2 to rotate. The remaining configurations and actuation methods of the intelligent glue-spraying system 100B are the same as or similar to those of the intelligent glue-spraying system 100A, and will not be described herein again.

[0048] Figure 13A and Figure 13B are partial operation flowcharts of the intelligent glue-spraying system according to another embodiment of the present invention. Figure 14A and Figure 14B are respectively Figure 13A and Figure 13B side views of the intelligent glue-spraying system.

[0049] Figures 13A to 14B The difference between the intelligent glue-spraying system 100C shown and the intelligent glue-spraying system 100A of the foregoing embodiment is that the conveyor belts T1, T2, and T3 of the intelligent glue-spraying system 100C are each provided with an electric roller E1 and a passive wheel E2 at their opposite ends, and can be actuated by the drive of the electric roller E1 respectively. When performing the Figure 13B and Figure 14B lifting and rotating operation, the electric roller E1 can suspend driving to facilitate the lifting and rotating operation.

[0050] The following describes an intelligent glue-spraying method according to an embodiment of the present invention.

[0051] Figure 15It is a flowchart of the intelligent glue spraying method according to an embodiment of the present invention. Please refer to Figure 15 , first, at least one object to be glue-sprayed is carried by at least one object carrying area (step S1). Then, an image of at least one object to be glue-sprayed is acquired by at least one image acquisition module, and the position and shape of at least one object to be glue-sprayed are judged based on the image (step S2). A moving trajectory of at least one motion mechanism is planned by a trajectory planning module according to the image, so that at least one glue sprayer can be driven by at least one motion mechanism to spray glue at a plurality of glue-spraying positions of at least one object to be glue-sprayed (step S3). A predicted cumulative glue amount at each glue-spraying position is calculated by a glue distribution analysis module according to the moving trajectory and the default glue spraying amount per unit time of the glue sprayer, and the glue spraying amount of the glue sprayer at each glue-spraying position is adjusted according to the predicted cumulative glue amount, so that the actual cumulative glue amount at each glue-spraying position does not exceed the upper limit of the cumulative glue amount (step S4). Figure 15 Each component in Figures 1 to 14B can correspond to the corresponding component in any embodiment of

[0052] To sum up, in the intelligent glue spraying system of the present invention, the glue distribution analysis module can calculate the predicted cumulative glue amount at each glue-spraying position according to the predicted moving trajectory of the glue sprayer and the default glue spraying amount per unit time, and then can adjust the actual glue spraying amount of the glue sprayer according to this predicted cumulative glue amount, so as to accurately control the actual cumulative glue amount not to exceed the upper limit of the cumulative glue amount. Thus, it is possible to avoid overflow or penetration due to excessive glue accumulation on the glue-sprayed object.

[0053] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent glue spraying system, characterized in that, Comprising: At least one object bearing area for bearing at least one object to be sprayed with glue; At least one image acquisition module for acquiring an image of the at least one object to be sprayed with glue and determining the position and shape of the at least one object to be sprayed with glue based on the image; At least one glue spraying module, including a glue sprayer, a motion mechanism and a glue supply device, wherein the motion mechanism is used to drive the glue sprayer to move, the glue supply device is used to supply glue to the glue sprayer, and the glue spraying amount of the glue sprayer is adjustable; A trajectory planning module for planning the movement trajectory of the at least one motion mechanism based on the image, so that the glue sprayer can spray glue at multiple positions to be sprayed with glue of the at least one object to be sprayed with glue; And A glue distribution analysis module for calculating the predicted cumulative glue amount at each position to be sprayed with glue according to the movement trajectory and the default glue spraying amount per unit time of the glue sprayer, and adjusting the glue spraying amount of the glue sprayer at each position to be sprayed with glue according to the predicted cumulative glue amount, so that the actual cumulative glue amount at each position to be sprayed with glue does not exceed the upper limit of the cumulative glue amount.

2. The intelligent glue spraying system according to claim 1, characterized in that It further includes an automatic feeding module, wherein the number of the at least one object to be sprayed with glue is multiple, and the automatic feeding module is used to automatically place the multiple objects to be sprayed with glue on the at least one object bearing area one by one.

3. The intelligent glue spraying system according to claim 1, wherein, The at least one image acquisition module includes a two-dimensional camera, a three-dimensional camera or a scanning device.

4. The intelligent glue spraying system according to claim 1, wherein The glue sprayer is provided with a regulating valve for regulating the glue spraying amount of the glue sprayer.

5. The intelligent glue spraying system according to claim 1, wherein, The glue distribution analysis module is used to calculate the speeds of the glue sprayer at multiple positions on the movement trajectory according to the movement trajectory, and calculate the predicted cumulative glue amount corresponding to each position according to the speeds.

6. The intelligent glue spraying system according to claim 1, characterized in that The glue distribution analysis module is used to calculate the predicted cumulative glue amount corresponding to each position according to the movement trajectory and the spraying radius of the glue sprayer.

7. The intelligent glue spraying system according to claim 1, wherein, The glue distribution analysis module is used to calculate the speeds of the glue sprayer at multiple positions on the movement trajectory according to the movement trajectory, and calculate the predicted cumulative glue amount corresponding to each position according to the speeds and the spraying radius of the glue sprayer.

8. The intelligent glue spraying system according to claim 1, wherein It includes two production lines that are parallel to each other. The number of the at least one object bearing area, the number of the at least one image acquisition module and the number of the at least one glue spraying module are all two. The two object bearing areas are respectively located on the two production lines, the two image acquisition modules are respectively located on the two production lines, and the two glue spraying modules are respectively located on the two production lines. Each production line includes a conveyor belt, and the conveyor belt sequentially passes through the object bearing area, the image acquisition module and the glue spraying module.

9. The intelligent glue spraying system according to claim 8, characterized in that, The two production lines share the trajectory planning module and the glue distribution analysis module.

10. The intelligent glue spraying system according to claim 8, wherein It further includes a downstream operation area and an automatic staggered arrangement mechanism. Each conveyor belt extends to the downstream operation area, and the automatic staggered arrangement mechanism is used to automatically arrange the multiple objects that have been sprayed with glue and reached the downstream operation area on one of the conveyor belts in a staggered manner.

11. An intelligent glue spraying method, comprising: Bearing at least one object to be sprayed with glue through at least one object bearing area; An image of the at least one object to be sprayed with glue is acquired by at least one image acquisition module, and the position and shape of the at least one object to be sprayed with glue are determined based on the image; A movement trajectory of at least one movement mechanism is planned by a trajectory planning module based on the image, so that at least one glue sprayer can be driven by the at least one movement mechanism to spray glue at a plurality of positions to be sprayed with glue of the at least one object to be sprayed with glue; and A predicted cumulative glue amount at each position to be sprayed with glue is calculated by a glue distribution analysis module based on the movement trajectory and the default glue spraying amount per unit time of the glue sprayer, and the glue spraying amount of the glue sprayer at each position to be sprayed with glue is adjusted based on the predicted cumulative glue amount, so that the actual cumulative glue amount at each position to be sprayed with glue does not exceed the upper limit of the cumulative glue amount.

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